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EP2060472B2 - Chariot cavalier doté d'une direction automatique - Google Patents

Chariot cavalier doté d'une direction automatique Download PDF

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Publication number
EP2060472B2
EP2060472B2 EP08000600.0A EP08000600A EP2060472B2 EP 2060472 B2 EP2060472 B2 EP 2060472B2 EP 08000600 A EP08000600 A EP 08000600A EP 2060472 B2 EP2060472 B2 EP 2060472B2
Authority
EP
European Patent Office
Prior art keywords
container
straddle carrier
laser scanner
steering
carrier according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP08000600.0A
Other languages
German (de)
English (en)
Other versions
EP2060472A2 (fr
EP2060472B1 (fr
EP2060472A3 (fr
Inventor
Reinhard Bauer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Demag Cranes and Components GmbH
Original Assignee
Terex MHPS IP Management GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=39198806&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2060472(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Terex MHPS IP Management GmbH filed Critical Terex MHPS IP Management GmbH
Publication of EP2060472A2 publication Critical patent/EP2060472A2/fr
Publication of EP2060472A3 publication Critical patent/EP2060472A3/fr
Application granted granted Critical
Publication of EP2060472B1 publication Critical patent/EP2060472B1/fr
Publication of EP2060472B2 publication Critical patent/EP2060472B2/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/44—Industrial trucks or floor conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the laser scanner represents a 2D laser scanner. Furthermore, it is advantageous to arrange the laser scanner in the vehicle carrier. Of course, a laser scanner can also be arranged on the vehicle carrier for driving backwards.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Power Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (8)

  1. Chariot cavalier (1) pour le transport et l'empilage de conteneurs à fret (4), doté d'une direction automatique, se composant de deux supports de roulement (3) dotés de roues dirigeables, pour rouler sur la pile de conteneurs, caractérisé en ce
    - qu'au moins un scanner laser (2) mesure la distance par rapport à une paroi de conteneur (5) selon des angles différents et transmet les signaux de mesure à une commande électronique (8) qui calcule, à partir de ceux-ci, une valeur de consigne d'angle de direction pour la direction du véhicule à régulation électronique (9),
    - qu'une direction automatique est activée lors de la détection de la paroi de conteneur (5),
    - qu'en cas d'un espace de 40 pieds et plus dans une rangée de conteneurs la direction automatique avec le scanner laser (2) s'oriente à la paroi de conteneur d'une rangée voisine jusqu'à la rangée passée de conteneurs est encore détectée par le scanner laser (2).
  2. Chariot cavalier selon la revendication 1, caractérisé en ce que le scanner laser (2) représente un scanner laser à deux dimensions.
  3. Chariot cavalier selon les revendications 1 et 2, caractérisé en ce qu'un ou plusieurs scanners laser (2) sont disposés dans le support de roulement avant (3) ou sur les appuis verticaux à la hauteur moyenne des couches de conteneurs.
  4. Chariot cavalier selon la revendication 3, caractérisé en ce qu'un scanner laser (2) est disposé dans un butoir.
  5. Chariot cavalier selon les revendications 1 à 4, caractérisé en ce que le chariot cavalier (1) règle automatique le mécanisme de levage lors de l'approche d'une pile de conteneurs après détection de sa hauteur de sorte qu'un franchissement sans collision soit possible.
  6. Chariot cavalier selon les revendications 1 à 5, caractérisé en ce que le chariot cavalier (1) freine automatiquement en cas de non atteinte d'une distance minimale (a) par rapport à la paroi de conteneur (5) ou en cas d'approche d'une pile de conteneurs non franchissable.
  7. Chariot cavalier selon les revendications 1 à 6, caractérisé en ce qu'un flash (11) indique au conducteur lors de la détection de la paroi de conteneur (5) que la direction automatique peut être activée.
  8. Chariot cavalier selon l'une quelconque des revendications 1 à 7, caractérisé en ce que la vraisemblance des valeurs de mesure du scanner laser droit et du scanner laser gauche (2) est vérifiée l'une par rapport à l'autre à l'aide de la commande électronique (8).
EP08000600.0A 2007-11-16 2008-01-14 Chariot cavalier doté d'une direction automatique Active EP2060472B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202007016156U DE202007016156U1 (de) 2007-11-16 2007-11-16 Portalhubstapler mit automatischer Lenkung

Publications (4)

Publication Number Publication Date
EP2060472A2 EP2060472A2 (fr) 2009-05-20
EP2060472A3 EP2060472A3 (fr) 2010-01-13
EP2060472B1 EP2060472B1 (fr) 2011-04-06
EP2060472B2 true EP2060472B2 (fr) 2017-02-01

Family

ID=39198806

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08000600.0A Active EP2060472B2 (fr) 2007-11-16 2008-01-14 Chariot cavalier doté d'une direction automatique

Country Status (6)

Country Link
US (1) US8108090B2 (fr)
EP (1) EP2060472B2 (fr)
AT (1) ATE504483T1 (fr)
AU (1) AU2008203191A1 (fr)
DE (2) DE202007016156U1 (fr)
NZ (1) NZ571556A (fr)

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DE102010004460A1 (de) 2009-12-11 2011-06-16 Noell Mobile Systems Gmbh Fahrerrückhaltesystem für den Bediner eines Portalstaplers
DE102010012749A1 (de) 2010-03-25 2011-09-29 Kuka Laboratories Gmbh Verfahren zum Betreiben eines autonomen Flurförderfahrzeugs
DE102010021042A1 (de) * 2010-05-19 2011-11-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur rechnergestützten Spurführung von Fahrzeugen
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DE202011103601U1 (de) 2011-07-22 2012-10-29 Noell Mobile Systems Gmbh Anschlags-Schalteinrichtung
DE102013101561B4 (de) 2013-02-15 2020-02-13 Götting KG Fahrerloses Transportfahrzeug mit einem Sensor
WO2014135744A1 (fr) * 2013-03-08 2014-09-12 Cargotec Finland Oy Procédé, appareil et programme d'ordinateur pour la commande d'un porte-conteneurs
CN103600688B (zh) * 2013-11-25 2015-09-02 无锡通明科技有限公司 一种渣土车转弯测距指示器
CN103803454B (zh) * 2014-01-20 2016-08-17 湖南三一港口设备有限公司 一种叉具进箱定位系统及伸缩臂叉车
CN106604886B (zh) 2014-09-15 2019-06-18 克朗设备公司 具有光学货物感测结构的叉车
CN104692293A (zh) * 2015-03-11 2015-06-10 武汉汉迪机器人科技有限公司 一种全自动全向无人叉车
KR102549643B1 (ko) 2015-07-17 2023-07-03 크라운 이큅먼트 코포레이션 산업용 차량을 위한 그래픽 사용자 인터페이스를 갖는 처리 장치
DE102015010718A1 (de) * 2015-08-17 2017-02-23 Eisenmann Se Fördereinrichtung mit Kollisionsdetektion
DE102015121804B4 (de) * 2015-12-15 2017-07-27 Terex Mhps Gmbh Transportfahrzeug für Container
DE102016119839A1 (de) * 2016-10-18 2018-04-19 Terex Mhps Gmbh Verfahren zum automatischen Positionieren eines Portalhubstaplers für Container und Portalhubstapler dafür
DE102016121328A1 (de) 2016-11-08 2018-05-09 Konecranes Global Corporation System zur Funkortung eines Portalhubstaplers für Container
CN110944926A (zh) 2016-11-08 2020-03-31 科尼起重机全球公司 用于无线电定位用于集装箱的运输车辆的系统
DE102017108608A1 (de) 2017-04-21 2018-10-25 Konecranes Global Corporation System zur Funkortung eines Transportfahrzeugs für Container
WO2018098025A1 (fr) 2016-11-22 2018-05-31 Crown Equipment Corporation Dispositif d'interface utilisateur pour véhicule industriel
CN106697707A (zh) * 2016-12-09 2017-05-24 贵州西南工具(集团)有限公司 一种智能仓储设备及仓储方法
DE102017107141A1 (de) 2017-04-03 2018-10-04 Konecranes Global Corporation Verfahren zum positionsgenauen Aufnehmen und Abstellen eines Containers durch einen Portalhubstapler und Portalhubstapler dafür
DE102017112661A1 (de) * 2017-06-08 2018-12-13 Konecranes Global Corporation Automatisch geführtes Portalhubgerät für Container und Verfahren zum Betrieb eines solchen Portalhubgeräts
CN113023226A (zh) * 2021-02-24 2021-06-25 江苏惊蛰智能科技有限公司 一种室内外融合导引定位技术的自动导引搬运机器人

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Publication number Priority date Publication date Assignee Title
WO1995031759A1 (fr) † 1994-05-13 1995-11-23 Modulaire Oy Systeme d'orientation automatique pour un vehicule telepilote
US5757501A (en) † 1995-08-17 1998-05-26 Hipp; Johann Apparatus for optically sensing obstacles in front of vehicles
WO1998034127A1 (fr) † 1997-01-13 1998-08-06 Sisu Terminal Systems Inc. Systeme de commande de pont-portique automatique destine a une machine manipulant des conteneurs
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Also Published As

Publication number Publication date
DE502008003081D1 (de) 2011-05-19
US20090129904A1 (en) 2009-05-21
DE202007016156U1 (de) 2008-03-20
AU2008203191A1 (en) 2009-06-04
ATE504483T1 (de) 2011-04-15
EP2060472A2 (fr) 2009-05-20
NZ571556A (en) 2010-02-26
US8108090B2 (en) 2012-01-31
EP2060472B1 (fr) 2011-04-06
EP2060472A3 (fr) 2010-01-13

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